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parametersconfigure-namecheckoutversionbuildzip->postfalse#39927591082370796orin-slave32 #399399false3991138768SUCCESS1779703730742http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/orin-slave32/399/- params/jiaxing-dongfangtegang-submodule.jenkinsfileab457388a4667d919beedb7a9833753b4f09cab81779701972000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate jiaxing-dongfangtegang-submodule.jenkinsfile
2026-05-25 09:39:32 +0000ab457388a4667d919beedb7a9833753b4f09cab8Update jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfile
githttp://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikangorinmasterconfListGet-BranchsconfCould not get conf for 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2026-05-26 02:04:59 +000095e911617d356ba11971f7eb73efc504e5ca54eeUpdate jiaxing-dongfangtegang-submodule.jenkinsfileeditparams/jiaxing-dongfangtegang-submodule.jenkinsfile
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2026-05-28 08:38:23 +0000fb10b22b63b9333f293166f9842d9faff4b06470Update map-png.jenkinsfileedithdmap/map-png.jenkinsfile
git- comm_msgs/msg/Traj.msg549daf0fc4e7c8f469ba1807acf334525ddb939b1779697241000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更
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2026-05-19 11:02:25 +080021a1df2d731e984cb4d3fd10e4b367b5433adc37fix: SSEP: 跨运车: 1.搜索禁止匹配参考线. 2.末端直线忽略碰撞editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/scenarios/straddle_carrier_general_planner.h
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- ssep/scenarios/straddle_carrier_pick_vehicle_planner.hd189bbc6258b48ba139a99f51101e0cd19269dc31779256884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 跨运车自转逻辑改进
2026-05-20 14:01:24 +0800d189bbc6258b48ba139a99f51101e0cd19269dc3chore: SSEP: 跨运车自转逻辑改进editssep/scenarios/straddle_carrier_pick_vehicle_planner.h
- data/vehicle/lock_station_data.cppdata/ssep/open_space_ec.cppdata/ssep/base_stop_line_filter.cppdata/ssep/open_space_ec.hppdata/ssep/base_stop_line_filter.hpp7168dbfa30ffd93062b1608f08d636e57a33d4dd1779286028000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能
2026-05-20 22:07:08 +08007168dbfa30ffd93062b1608f08d636e57a33d4ddfeat: 增加对堆场直接进入的判断逻辑，并优化相关功能editdata/ssep/open_space_ec.cppeditdata/ssep/base_stop_line_filter.cppeditdata/ssep/open_space_ec.hppeditdata/vehicle/lock_station_data.cppeditdata/ssep/base_stop_line_filter.hpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/scenario.cppdata/ssep/field_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/config/cfg_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/task_condition_evaluator.hppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppscenarios/scenario_interface.hppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cpphmi/draw/draw_path_boundary.cppconfig/config_truck/scenario.yamldata/boundary/road_boundary.cppscenarios/stage.hpptasks/other_tasks/stitch_path_data_to_path.cppf5eba086e38f878a9c59460cd274ccfac0bbba6e1779286185000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度
2026-05-20 22:09:45 +0800f5eba086e38f878a9c59460cd274ccfac0bbba6e引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度editdata/ssep/out_yard_junction_ec.cppeditscenarios/stage.hppeditscenarios/scenario_interface.hppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppaddscenarios/task_condition_evaluator.hppeditconfig/config_truck/scenario.yamledithmi/draw/draw_path_boundary.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditdata/ssep/field_junction_ec.cppeditdata/boundary/road_boundary.cppeditscenarios/scenario.cppeditdata/config/cfg_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditdata/config/cfg_stage.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/stage.cppedittasks/other_tasks/stitch_path_data_to_path.cppaddscenarios/task_condition_evaluator.cpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppdata/config/cfg_env_const.hppdata/config/cfg_stage.cppdata/config/cfg_env_const.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppscenarios/task_condition_evaluator.hppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/task_condition_evaluator.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppdata/config/cfg_stage.hpphmi/widget/diagnose.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/stage.hppa2fe19adfd84af23f521e6790146fca98c816aaa1779362941000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能
2026-05-21 19:29:01 +0800a2fe19adfd84af23f521e6790146fca98c816aaa重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能editscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hppeditdata/config/cfg_stage.hppeditscenarios/stage.hppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/task_condition_evaluator.hppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/task_condition_evaluator.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_env_const.hppeditscenarios/stage.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_func_sw.cppedithmi/widget/diagnose.cpp
- replayer/replayer_data_process/replayer_data_extraction.cpptasks/plan/keb_lane_follow_path_task.cpp31e09a791978ac342db474d9da6246ce4678fe461779362988000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值
2026-05-21 19:29:48 +080031e09a791978ac342db474d9da6246ce4678fe46feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值editreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_lane_follow_path_task.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_enter_yard_planner.h6e58a963e9a696edda1a1fbc57114f301c2d47fc1779363081000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 支持上下码头面同时进堆场
2026-05-21 19:31:21 +08006e58a963e9a696edda1a1fbc57114f301c2d47fcfeat: SSEP: 支持上下码头面同时进堆场editssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_enter_yard_planner.h
- ssep/keb_optimizer/rigid_truck_keb_optimizer.cc5c66484117e480a1bf37b534af153741f51029101779363797000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 调整运动学可行性检查的最大归一化位置和朝向误差
2026-05-21 19:43:17 +08005c66484117e480a1bf37b534af153741f5102910feat: 调整运动学可行性检查的最大归一化位置和朝向误差editssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc0dbf3b3c0dd814f60915d79a4e08490a137974c41779369955000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复集卡多段倒车搜索失败的问题
2026-05-21 21:25:55 +08000dbf3b3c0dd814f60915d79a4e08490a137974c4fix: SSEP: 修复集卡多段倒车搜索失败的问题editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- data/ssep/field_junction_ec.cpphmi/draw/draw_map.cpp01953a89de69f4ce40476214765121973d3f0c6f1779370829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
2026-05-21 21:40:29 +080001953a89de69f4ce40476214765121973d3f0c6ffeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能edithmi/draw/draw_map.cppeditdata/ssep/field_junction_ec.cpp
- data/constrain/block_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hpp5c305ed4092e332ef41c2415f0d0c90174ff8ba41779447494000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加bulk in 堆场前临时停车功能
2026-05-22 18:58:14 +08005c305ed4092e332ef41c2415f0d0c90174ff8ba4feat: 添加bulk in 堆场前临时停车功能editdata/constrain/disable_stop_range.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/disable_stop_range.cpp
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/scenarios/straddle_carrier_general_planner.hb256d63212ae082f14354d1d39518463c61aa4d91779691206000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。
2026-05-25 14:40:06 +0800b256d63212ae082f14354d1d39518463c61aa4d9fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。editssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/scenarios/straddle_carrier_general_planner.h
- tasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/cost_features/ref_line_cost.hssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/offboard/ssep_planner_wrapper.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccoffboard/keb_path_opt_cli/keb_path_opt_cli.ccalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.cc4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b1779712780000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程
2026-05-25 20:39:40 +08004bf5c8270da914d3b1f5904f5e1bb979afa6cc7bchore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程editssep/keb_optimizer/cost_features/ref_line_cost.hedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/offboard/ssep_planner_wrapper.cceditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.hedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/keb_problem.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/keb_problem.cc
- data/obstacle/block.hppdata/map/pnc_map/pnc_map_path.cppdata/common/path_point.hppdata/map/reference/reference_segment.hppcommon/util/hdmap_namespace.hppdata/common/trajectory.hppdata/common/trajectory_point.hppdata/dp_poly_path/comparable_cost.hppCMakeLists.txt1b988671fa14d46390c7e72167264eb91bb59f151779715566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: clang18 编译优化
2026-05-25 21:26:06 +08001b988671fa14d46390c7e72167264eb91bb59f15feat: clang18 编译优化editdata/obstacle/block.hppeditdata/map/pnc_map/pnc_map_path.cppeditdata/common/trajectory.hppeditdata/common/path_point.hppeditdata/dp_poly_path/comparable_cost.hppeditdata/common/trajectory_point.hppeditcommon/util/hdmap_namespace.hppeditCMakeLists.txteditdata/map/reference/reference_segment.hpp
- tasks/deciders/long_decider/constrain_decider.cppdca6c98db33487af01a20e3a8e337741b290e6b01779760410000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:崩溃防护，guide line 有效，但speedlimits为空
2026-05-26 09:53:30 +0800dca6c98db33487af01a20e3a8e337741b290e6b0fix:崩溃防护，guide line 有效，但speedlimits为空edittasks/deciders/long_decider/constrain_decider.cpp
- algorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.cc48d96b1fa2212d2e673a86427ae8c99c58fb86da1779767596000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复终点附近轨迹会有碰撞的问题
2026-05-26 11:53:16 +080048d96b1fa2212d2e673a86427ae8c99c58fb86dafix: Keb: 修复终点附近轨迹会有碰撞的问题editalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_simulator.cc
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccbba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f51779772306000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: fix crashing issue
2026-05-26 13:11:46 +0800bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5fix: SSEP: fix crashing issueeditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
- offboard/keb_path_opt_cli/keb_simulator.cc0703acd58c84b4ace9abf4350bd6604c0e1b1cb71779772399000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-sim: 适配终点选取逻辑
2026-05-26 13:13:19 +08000703acd58c84b4ace9abf4350bd6604c0e1b1cb7chore: Keb-sim: 适配终点选取逻辑editoffboard/keb_path_opt_cli/keb_simulator.cc
- data/ssep/open_space_ec.cppscenarios/task_condition_evaluator.cppdata/map/pnc_map/routing_extension/routing_data.cpp7877eff32392d61b24edcfd041e1ccc07f59101e1779777295000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:动态上下码头面 直接进堆场场景的优化
2026-05-26 14:34:55 +08007877eff32392d61b24edcfd041e1ccc07f59101efeat:动态上下码头面 直接进堆场场景的优化editscenarios/task_condition_evaluator.cppeditdata/ssep/open_space_ec.cppeditdata/map/pnc_map/routing_extension/routing_data.cpp
- sink/ros_sink_cloud_trajectory.cppd62544f9ee0f56a94a4c24195b03574a26b77cf11779781414000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加云端轨迹 挂转角的赋值
2026-05-26 15:43:34 +0800d62544f9ee0f56a94a4c24195b03574a26b77cf1feat:添加云端轨迹 挂转角的赋值editsink/ros_sink_cloud_trajectory.cpp
- tasks/deciders/long_decider/constrain_decider.cppf4c924bed3396eccd1d67360cab3d176a01671901779781847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:堆场前停车，停车原因赋值错误的bug
2026-05-26 15:50:47 +0800f4c924bed3396eccd1d67360cab3d176a0167190fix:堆场前停车，停车原因赋值错误的bugedittasks/deciders/long_decider/constrain_decider.cpp
- data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp20fe40a09dfcc324d0d105ec3b5feb1f890499021779782439000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场前停车，motion状态机错误的bug
2026-05-26 16:00:39 +080020fe40a09dfcc324d0d105ec3b5feb1f89049902fix:进堆场前停车，motion状态机错误的bugeditdata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
- algorithm/plan/keb_optimizer.cpp83813bf5122f441c9fb043e7bb24ea7a3db54dbf1779786680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复keb路径跳变的bug
2026-05-26 17:11:20 +080083813bf5122f441c9fb043e7bb24ea7a3db54dbffix:修复keb路径跳变的bugeditalgorithm/plan/keb_optimizer.cpp
- hmi/widget/map.cpphmi/common/image_viewer.cpphmi/widget/map.hpphmi/common/image_viewer.hpp48daa21458f0c4904c9c812e96c937f9ce34456c1779802709000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:ctrl +shift 左键 可以 把车辆移动到 没有lane的位置上
2026-05-26 21:38:29 +080048daa21458f0c4904c9c812e96c937f9ce34456cfeat:ctrl +shift 左键 可以 把车辆移动到 没有lane的位置上edithmi/widget/map.cppedithmi/common/image_viewer.hppedithmi/common/image_viewer.cppedithmi/widget/map.hpp
- tasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hpphmi/draw/draw_perception.cpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cpphmi/draw/draw_perception.hppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cppdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/plan_frame.hpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp06aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2b1779860819000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加KEB可视化数据结构及相关功能
- 在CfgFuncSw和CfgHmi中添加KEB相关功能开关
- 实现KEB可视化数据的生成和更新
- 在绘制模块中集成KEB上层和下层线段的绘制
- 更新路径优化任务以支持KEB可视化数据
2026-05-27 13:46:59 +080006aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2bfeat: 添加KEB可视化数据结构及相关功能editdata/config/cfg_func_sw.cppeditdata/map/pnc_map/pnc_map_path.cppedittasks/plan/keb_utils.cppedithmi/node_hmi.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_lane_follow_path_task.hppeditdata/plan_frame.hppeditdata/config/cfg_safe_const.hppedithmi/draw/draw_perception.cppedithmi/draw/draw_all.cppedithmi/draw/draw_perception.hppadddata/plan/keb_visualize_data.hppeditdata/config/cfg_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.hppedittasks/plan/keb_lane_follow_path_task.cppeditdata/config/cfg_func_sw.hppedithmi/widget/pnc_mat_shared.cpp
- data/config/cfg_func_sw.hpp4482c5612405410d84008ea262418b70bf895a361779862581000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新CfgFuncSw类的序列化版本，添加新功能支持
2026-05-27 14:16:21 +08004482c5612405410d84008ea262418b70bf895a36feat: 更新CfgFuncSw类的序列化版本，添加新功能支持editdata/config/cfg_func_sw.hpp
git- algorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_parallel.hppcommon/log/async_log_writer.hppcommon/log/log_channel.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppcommon/CMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/ctrl_frame.cppdata/config/cfg_log.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构 纵向mpc增加热启动关闭polish
2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构 纵向mpc增加热启动关闭polisheditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppadddata/config/cfg_log.hppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppaddcommon/log/spsc_ring_buffer.hppeditdata/config/cfg_parallel.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppaddcommon/log/csv_row_builder.hppeditdata/ctrl/longitude_ctrl_debug_data.hppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_proc_longctrl.hppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditdata/config/cfg_lon_dynamic_mpc.hppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddcommon/log/async_log_writer.cppeditdata/ctrl_frame.hppaddcommon/log/log_channel.hppeditdata/ctrl_frame.cppeditdata/config/cfg_parallel.hppeditcommon/CMakeLists.txteditnode/logic.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.hppadddata/config/cfg_log.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppaddcommon/log/async_log_writer.hppaddcommon/log/log_channel.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppeditdata/ctrl/observer_debug_data.hppeditnode/process/prepare/prepare_attr.cppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cpp
- algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值
2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
- data/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改
2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/async_log_writer.hppeditnode/logic.cppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditdata/ctrl_frame.cppeditcommon/log/log_channel.hppedittest/CMakeLists.txteditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditcommon/log/async_log_writer.cpp
- data/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割
2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editcommon/log/log_channel.hppeditdata/ctrl_frame.cppeditdata/ctrl_frame.hppeditcommon/log/log_channel.cppeditcommon/log/async_log_writer.cpp
- data/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志
2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cpp
- data/config/cfg_log.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppnode/logic.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整
2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editmath/identification/parking_distance_estimator.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_log.cppeditnode/logic.cpp
- math/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险
2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cpp
git- routing/result_generator.ccfce10de18d6bc75fd5f820bcc9f9713993f910061779871716000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 按照车道数不同切分的时候，在切分之后，两段都需要前行。
2026-05-27 16:48:36 +0800fce10de18d6bc75fd5f820bcc9f9713993f91006feat_out: 按照车道数不同切分的时候，在切分之后，两段都需要前行。editrouting/result_generator.cc
git- params/localization_region.yaml7583be6a19ecf1eb1ceb70ed1dee5c60f577a2c61779776284000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto洋浦检出区加新灯杆过滤区
2026-05-26 14:18:04 +08007583be6a19ecf1eb1ceb70ed1dee5c60f577a2c6洋浦检出区加新灯杆过滤区editparams/localization_region.yaml
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confListcheckallyesOTApublicregionweihaigangdeviceChoicefalsemsgBranchrc_dev_weihairslidarSDKBranchrc_devrslidarSdkNewBranchrc_dev_1.5.18cameraDriverBranchrc_devloginSyncToolBranchrc_devsystemRosBranchrc_devnodeManagerBranchrc_devthirdpartyBranchrc_devunifiedSystemMonitorBranchrc_devrosBridgeBranchnohdcontrolBranchrc_devversionsObserverBranchrc_devcacheBagNodeBranchrc_devsystemMonitorBranchrc_devperformanceAnalystBranchnoscheduleManagerBranchnoimvSpreaderDetectionBranchnocraneAlignBranchdev_truck_straddle_carriermrpt2Branchrc_devwarningModuleBranchrc_devrminterpreterBranchnonodeManagerOnlineBranchrc_devrtspRelayerBranchrc_devhesaiLidarBranchrc_devnewTruckSpreaderDetectionBranchnorcinterpreterBranchrc_devpncBranchNone-BranchguardianBranchNone-BranchstaticTransformBranchNone-BranchmsfLocBranchNone-BranchmsfAssistantBranchNone-BranchhdmapBranchNone-BranchperipheralControllerBranchNone-BranchpredictionBranchNone-BranchlaneDetectionBranchNone-BranchdataCollectionBranchNone-BranchtosVisualizeBranchNone-BranchsinsCalibrationHmiBranchNone-BranchtoolsBranchNone-BranchsegmentationBranchNone-BranchcontrolBranchNone-BranchhdmapCloudBranchNone-BranchnodeManagerHmiBranchNone-BranchgroundmarkerDetectionBranchNone-BranchcalibrationToolsBranchNone-BranchsimulatorBranchNone-BranchsnapshotUploadBranchNone-BranchhdmapInterfaceBranchNone-BranchspreaderSegmentationBranchNone-BranchtrafficLightDetectionBranchNone-BranchperceptionPublisherBranchNone-BranchavmBranchNone-Branchv2Branchrc_dev_shipnewDetectionBranchtrailer_og_around_removeseniorCalibrationBranchrc_devdoxBranchrc_devoleLidarBranchrc_devlidarCameraFusionBranchrc_devoperatenoorinConfslaveeditConfNamenotes威海5月全量包-从机usersStarted 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2026-05-25 09:38:35 +0000c81b4f6e9439896e6d33502148f15cca16fb7108Update vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
git- params/hainan-yangpu-submodule.jenkinsfileb0ad98926e5d57aec662f54730ee581e7fc7b6b51779701708000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile
2026-05-25 09:35:08 +0000b0ad98926e5d57aec662f54730ee581e7fc7b6b5Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfile
git- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_trailer_calculator.cpp052eae6b5b1fe4399611cc30d5eee334c862e1281771917857000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:威海空挂挂角适配初版.
2026-02-24 15:24:17 +0800052eae6b5b1fe4399611cc30d5eee334c862e128note_out:威海空挂挂角适配初版.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/impl/dld_trailer_calculator.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calculator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/common/dld_params_config.hperception/common/common_types.hperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calculator.cpp19d0d67c0d3e3cda83394d6e17b1655e195fee1a1771932998000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:威海顶后雷达空挂挂角检出适配.
2026-02-24 19:36:38 +080019d0d67c0d3e3cda83394d6e17b1655e195fee1anote_out:威海顶后雷达空挂挂角检出适配.editperception/common/common_types.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calculator.heditperception/dl_detection/lidar/impl/dld_trailer_calculator.cpp
- perception/dl_detection/lidar/impl/dld_inference_processor.cppperception/dl_detection/params/modelperception/dl_detection/lib/centerpoint3906e93fc130df3093ea39cac595780538566eb71773814301000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:同步最新模型.
2026-03-18 14:11:41 +08003906e93fc130df3093ea39cac595780538566eb7note_out:同步最新模型.editperception/dl_detection/params/modeleditperception/dl_detection/lidar/impl/dld_inference_processor.cppeditperception/dl_detection/lib/centerpoint
- perception/dl_detection/services/impl/dld_vehicle.cppperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppperception/dl_detection/services/impl/dld_sensor_msg_manager.cppperception/dl_detection/services/dld_sensor_msg_manager.hperception/common/common_types.hperception/dl_detection/services/dld_vehicle.hb8d2628e1cc3eb2999a872a56e8616b01870449a1773819036000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:合并接挂相关.
2026-03-18 15:30:36 +0800b8d2628e1cc3eb2999a872a56e8616b01870449anote_out:合并接挂相关.editperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppeditperception/dl_detection/services/impl/dld_sensor_msg_manager.cppeditperception/dl_detection/services/impl/dld_vehicle.cppeditperception/dl_detection/services/dld_sensor_msg_manager.heditperception/common/common_types.heditperception/dl_detection/services/dld_vehicle.h
- perception/dl_detection/services/impl/dld_sensor_msg_manager.cpp0a6c60357a06f807b93bac06e365367047f6d81c1773819078000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 对车挂参数判空
2026-03-18 15:31:18 +08000a6c60357a06f807b93bac06e365367047f6d81cnote_out: 对车挂参数判空editperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
- perception/dl_detection/services/impl/dld_sensor_msg_manager.cppperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cpp2b79e03b24a1867a34397646f24438d9f8ec7eb81773819091000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 接收挂参bug
2026-03-18 15:31:31 +08002b79e03b24a1867a34397646f24438d9f8ec7eb8note_out: 接收挂参bugeditperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/services/impl/dld_sensor_msg_manager.cpp
- perception/dl_detection/services/impl/dld_vehicle.cppperception/dl_detection/services/impl/dld_sensor_msg_manager.cppperception/dl_detection/services/dld_sensor_msg_manager.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/services/dld_vehicle.h3bdd818206524ffd2ad6b5b2910d48303f51692d1773820182000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:威海接挂消息适配,0无挂,1有挂有箱,2有挂无箱.
2026-03-18 15:49:42 +08003bdd818206524ffd2ad6b5b2910d48303f51692dnote_out:威海接挂消息适配,0无挂,1有挂有箱,2有挂无箱.editperception/dl_detection/services/dld_sensor_msg_manager.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/services/dld_vehicle.heditperception/dl_detection/services/impl/dld_sensor_msg_manager.cppeditperception/dl_detection/services/impl/dld_vehicle.cpp
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cppe40d6692b5763c829729203bcc020dcc9d82e3341773983261000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修复airy雷达可能的range访问越界问题.
2026-03-20 13:07:41 +0800e40d6692b5763c829729203bcc020dcc9d82e334note_out:修复airy雷达可能的range访问越界问题.editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
- perception/ground_segmentation/services/seg_transform_step.hperception/ground_segmentation/services/impl/seg_transform_step.cpp948bda0fa8c57acd84505aef57f1553dffc996d21774012043000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改seg NROI位置,减少进入地面分割等重复计算的点数.
2026-03-20 21:07:23 +0800948bda0fa8c57acd84505aef57f1553dffc996d2note_out:修改seg NROI位置,减少进入地面分割等重复计算的点数.editperception/ground_segmentation/services/impl/seg_transform_step.cppeditperception/ground_segmentation/services/seg_transform_step.h
- perception/ground_segmentation/services/seg_obstacle_step.hperception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/common/data_injector.cppperception/ground_segmentation/components/seg_obstacle.cppperception/ground_segmentation/services/seg_transform_step.hperception/ground_segmentation/common/basic_types.hperception/ground_segmentation/common/grd_utils.cppperception/ground_segmentation/services/impl/seg_obstacle_step.cppperception/ground_segmentation/components/seg_transform.cppperception/ground_segmentation/common/data_injector.h7ea325a50822e4d9a7b3b2cbfacdad54103f1de91774012043000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:NROI过滤点在debug模式下加入到rectified_cloud显示中.
2026-03-20 21:07:23 +08007ea325a50822e4d9a7b3b2cbfacdad54103f1de9note_out:NROI过滤点在debug模式下加入到rectified_cloud显示中.editperception/ground_segmentation/services/seg_transform_step.heditperception/ground_segmentation/components/seg_transform.cppeditperception/ground_segmentation/common/data_injector.heditperception/ground_segmentation/services/seg_obstacle_step.heditperception/ground_segmentation/components/seg_obstacle.cppeditperception/ground_segmentation/common/basic_types.heditperception/ground_segmentation/services/impl/seg_transform_step.cppeditperception/ground_segmentation/common/data_injector.cppeditperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/services/impl/seg_obstacle_step.cpp
- perception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp8841df256b321afed9979d925bcae7b9f19a6fcd1774012087000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:沟沿点适配NROI修改.
2026-03-20 21:08:07 +08008841df256b321afed9979d925bcae7b9f19a6fcdnote_out:沟沿点适配NROI修改.editperception/ground_segmentation/services/impl/seg_ground_alg_plus.cpp
- perception/ground_segmentation/common/basic_types.hperception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/common/grd_utils.cppf4a6f77032b0f2a8a1d2e644294f8f3e2a1fac911774012256000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:洋浦NROI修改.
2026-03-20 21:10:56 +0800f4a6f77032b0f2a8a1d2e644294f8f3e2a1fac91note_out:洋浦NROI修改.editperception/ground_segmentation/common/basic_types.heditperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/services/impl/seg_transform_step.cpp
- perception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/common/basic_types.hperception/ground_segmentation/common/grd_utils.cpp64cff8abf56f731a8f245cc2b95e3a4477e871851774012256000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:增加参数控制NROI前移至地面校正前.
2026-03-20 21:10:56 +080064cff8abf56f731a8f245cc2b95e3a4477e87185note_out:增加参数控制NROI前移至地面校正前.editperception/ground_segmentation/services/impl/seg_transform_step.cppeditperception/ground_segmentation/common/basic_types.heditperception/ground_segmentation/common/grd_utils.cpp
- perception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/common/basic_types.hperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/ground_segmentation/common/grd_utils.cppperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/common/utils.he06bb740e8aed11d2ebb30252195df36f4eb2f121774012318000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: NROI过滤修改.
2026-03-20 21:11:58 +0800e06bb740e8aed11d2ebb30252195df36f4eb2f12note_out: NROI过滤修改.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/common/utils.heditperception/ground_segmentation/services/impl/seg_transform_step.cppeditperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/common/basic_types.h
- perception/ground_segmentation/common/basic_types.hperception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/common/grd_utils.cppperception/dl_detection/lidar/impl/dld_og_around_impl.cpp648afc387e1ca0f89e19952967183043b3b001a01774012642000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修改额外NROI区域,接受list参数去除多个位置.
2026-03-20 21:17:22 +0800648afc387e1ca0f89e19952967183043b3b001a0note_out:修改额外NROI区域,接受list参数去除多个位置.editperception/ground_segmentation/common/basic_types.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/ground_segmentation/common/grd_utils.cppeditperception/ground_segmentation/services/impl/seg_transform_step.cpp
- perception/dl_detection/params/modeldf6ed322c634df889158a211414006bbe9215da31774016284000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:合并rc_dev关于NROI的修改.
2026-03-20 22:18:04 +0800df6ed322c634df889158a211414006bbe9215da3note_out:合并rc_dev关于NROI的修改.editperception/dl_detection/params/model
- perception/ground_segmentation/services/impl/seg_transform_step.cppperception/ground_segmentation/common/grd_utils.cpp0ab651107895ba40da24196ba055950b4ae558ed1774017999000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:附加NROI区域增加z值范围约束.
2026-03-20 22:46:39 +08000ab651107895ba40da24196ba055950b4ae558ednote_out:附加NROI区域增加z值范围约束.editperception/ground_segmentation/services/impl/seg_transform_step.cppeditperception/ground_segmentation/common/grd_utils.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/common/common_types.hperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp23abbe6a7fbe07d29b6bc36bdfd46cc1172173ca1774423940000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto倒车时小角度下不信任与ekf差值大的矫正值
2026-03-25 15:32:20 +080023abbe6a7fbe07d29b6bc36bdfd46cc1172173ca倒车时小角度下不信任与ekf差值大的矫正值editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
- perception/dl_detection/lidar/impl/dld_data_provider.cppperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppperception/dl_detection/lidar/include/dld_data_provider.hperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_detection_postprocessor.cppd2a06617a57ec03e79bdb3efcc5894655e2cd01e1774438363000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto箱体面拟合时剔除rear_dewn雷达点
2026-03-25 19:32:43 +0800d2a06617a57ec03e79bdb3efcc5894655e2cd01e箱体面拟合时剔除rear_dewn雷达点editperception/dl_detection/lidar/impl/dld_data_provider.cppeditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppeditperception/dl_detection/lidar/impl/dld_pointcloud_preprocessor.cppeditperception/dl_detection/lidar/include/dld_data_provider.heditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.hperception/dl_detection/lidar/impl/dld_trailer_calibrator.cppe0b4830a152ac4122a43eb5aa71d90a85aad244b1774499787000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.autorear_down雷达中z>2.6点遗留bug处理
2026-03-26 12:36:27 +0800e0b4830a152ac4122a43eb5aa71d90a85aad244brear_down雷达中z>2.6点遗留bug处理editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_trailer_calibrator.heditperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/params/model7d56c3cb2094e2621e2ab9008c9dd6b5959c46d21774850015000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:青威更新高分阈值.
2026-03-30 13:53:35 +08007d56c3cb2094e2621e2ab9008c9dd6b5959c46d2note_out:青威更新高分阈值.editperception/dl_detection/params/model
- perception/dl_detection/utils/dld_visualization_debug.cppperception/dl_detection/params/model6699c8a2ad2d80071dc67eb958bed30f9d966bce1774854254000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修复空挂修正车挂框无显示问题.
2026-03-30 15:04:14 +08006699c8a2ad2d80071dc67eb958bed30f9d966bcenote_out:修复空挂修正车挂框无显示问题.editperception/dl_detection/utils/dld_visualization_debug.cppeditperception/dl_detection/params/model
- perception/dl_detection/params/modelperception/dl_detection/lidar/impl/dld_detection_postprocessor.cppd4399bdec6e871c23a91a8fc74bceee5977eace11774855102000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修复truck_trailer_change使用挡流板校正时EKF没使用其值的问题.
2026-03-30 15:18:22 +0800d4399bdec6e871c23a91a8fc74bceee5977eace1note_out:修复truck_trailer_change使用挡流板校正时EKF没使用其值的问题.editperception/dl_detection/params/modeleditperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp1f6a50beb49142237b3004f9d0530181ddee9eec1775121226000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:甲板上降低点云过滤高度4.4->4.2.
2026-04-02 17:13:46 +08001f6a50beb49142237b3004f9d0530181ddee9eecnote_out:甲板上降低点云过滤高度4.4->4.2.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppcdd9144fc880899b26a14a19651687eb5508c3561776234430000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:威海船舱内非行人类别静态不输出obj.
2026-04-15 14:27:10 +0800cdd9144fc880899b26a14a19651687eb5508c356note_out:威海船舱内非行人类别静态不输出obj.editperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cpp
- tools/build/build.sh.gitignored056975b12ed273b463b898a8ffa7851c31b5fe31776403777000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:合并weihai_jt128分支.
2026-04-17 13:29:37 +0800d056975b12ed273b463b898a8ffa7851c31b5fe3note_out:合并weihai_jt128分支.edit.gitignoreaddtools/build/build.sh
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp022488495ed64578c773a6ca0fb6dbc19e6613211776679713000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修复挂状态切换车头过滤默认值错误的bug.
2026-04-20 18:08:33 +0800022488495ed64578c773a6ca0fb6dbc19e661321note_out:修复挂状态切换车头过滤默认值错误的bug.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp86cb38d294e3e47edcff13cd7437b85669065cb61776684648000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:修复箱体面校正丢弃rear_down雷达点云的问题.
2026-04-20 19:30:48 +080086cb38d294e3e47edcff13cd7437b85669065cb6note_out:修复箱体面校正丢弃rear_down雷达点云的问题.editperception/dl_detection/lidar/impl/dld_trailer_calibrator.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppfab2469de1ae607bbe149d5d292492b8982a69c51776684891000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车头后部过滤高度降低生效条件为trailer_label>0.
2026-04-20 19:34:51 +0800fab2469de1ae607bbe149d5d292492b8982a69c5note_out:车头后部过滤高度降低生效条件为trailer_label>0.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_inference_processor.cppperception/dl_detection/lidar/impl/dld_suf_impl.cppperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppperception/common/common_types.hc5bacb8dfd4deea929eda51db3231af04f284f731777433772000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:增加威海船舱内甲板像素&&相关策略.
2026-04-29 11:36:12 +0800c5bacb8dfd4deea929eda51db3231af04f284f73note_out:增加威海船舱内甲板像素&&相关策略.editperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lidar/impl/dld_detection_tracking_processor.cppeditperception/common/common_types.heditperception/dl_detection/lidar/impl/dld_inference_processor.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.hperception/dl_detection/lidar/impl/dld_suf_impl.cppe8e47e283f8b8dad5ea5ec6bacbdc3716c2bd27e1777434711000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:威海过滤船舱内的stacker.
2026-04-29 11:51:51 +0800e8e47e283f8b8dad5ea5ec6bacbdc3716c2bd27enote_out:威海过滤船舱内的stacker.editperception/dl_detection/lidar/impl/dld_suf_impl.cppeditperception/dl_detection/lidar/include/dld_pre_suf_set/dld_suf_nms.h
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp57897519fce1489463bb34ab64716b72e8fa66811777442902000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out: 青威车身点在原坐标系下经过过滤框.
2026-04-29 14:08:22 +080057897519fce1489463bb34ab64716b72e8fa6681note_out: 青威车身点在原坐标系下经过过滤框.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cpp98a6e9c0045d602f6b8d68882a37dea7589006221777451624000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:去除调试打印日志.
2026-04-29 16:33:44 +080098a6e9c0045d602f6b8d68882a37dea758900622note_out:去除调试打印日志.editperception/dl_detection/lidar/impl/dld_og_around_impl.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp89e8f1feba9fb9de0b35124d9835715da36f1f351778049539000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车头无挂状态不处理车挂EKF和过滤.
2026-05-06 14:38:59 +080089e8f1feba9fb9de0b35124d9835715da36f1f35note_out:车头无挂状态不处理车挂EKF和过滤.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
- perception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp12665420c9622ecd59603dadd2f7ed6653a6603d1778049778000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:车头无挂状态不处理车挂EKF和过滤.
2026-05-06 14:42:58 +080012665420c9622ecd59603dadd2f7ed6653a6603dnote_out:车头无挂状态不处理车挂EKF和过滤.editperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/lidar/impl/dld_detection_postprocessor.cpp
- perception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.hperception/dl_detection/common/dld_error_code_macro.hperception/dl_detection/services/impl/dld_sensor_msg_manager.cppperception/dl_detection/common/dld_params_config.hperception/dl_detection/lidar/impl/dld_og_around_impl.cppperception/dl_detection/params/det_error_code_config.yamlperception/dl_detection/params/obstacle_detection_param.yamlperception/common/common_types.h1a064ce6c65104ac6ed72dd234b1c58213b304be1778505365000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:威海增加车挂信息校验&&不匹配达60帧以上时发出301044故障码.
2026-05-11 21:16:05 +08001a064ce6c65104ac6ed72dd234b1c58213b304benote_out:威海增加车挂信息校验&&不匹配达60帧以上时发出301044故障码.editperception/dl_detection/lidar/include/dld_pre_suf_set/dld_og_around_service.heditperception/dl_detection/services/impl/dld_sensor_msg_manager.cppeditperception/common/common_types.heditperception/dl_detection/common/dld_error_code_macro.heditperception/dl_detection/common/dld_params_config.heditperception/dl_detection/lidar/impl/dld_og_around_impl.cppeditperception/dl_detection/params/det_error_code_config.yamleditperception/dl_detection/params/obstacle_detection_param.yaml
- perception/dl_detection/params/det_error_code_config.yaml1c1dc0b91bf88d869ed0b37875c6546fa77449131778553245000http://159.27.114.184:8080/jenkins/user/tangxiaotangxiaotangxiao@senior.autonote_out:不匹配达60帧以上时发出301044改为TAKEOVER级别.
2026-05-12 10:34:05 +08001c1dc0b91bf88d869ed0b37875c6546fa7744913note_out:不匹配达60帧以上时发出301044改为TAKEOVER级别.editperception/dl_detection/params/det_error_code_config.yaml
git- loc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/src/lidar_process.cpploc/lidar/reflect_match/reflect_matcher.cpploc/lidar/reflect_match/reflect_matcher.hloc/lidar/src/lidar_matcher.h5257e2f70e4f13bf048ed79edb39e861d84eb9481775013897000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 修改点云匹配逻辑: 由每帧NDT + ICP， 改成首帧匹配成功后仅用ICP
2026-04-01 11:24:57 +08005257e2f70e4f13bf048ed79edb39e861d84eb948feat_out: 修改点云匹配逻辑: 由每帧NDT + ICP， 改成首帧匹配成功后仅用ICPeditloc/lidar/reflect_match/reflect_matcher.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/lidar/reflect_match/reflect_matcher.heditloc/lidar/src/lidar_matcher.heditloc/lidar/src/lidar_process.cpp
- loc/lidar/src/lidar_process.cpploc/lidar/ndt_match/ndt_process.cpploc/lidar/ndt_match/ndt_icp_matcher.cpploc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/src/lidar_manage.cpp926b4494612bcb1c90c4455df2b03dcbe7051f491775792336000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加日志统计, 匹配中地图点数，雷达参与匹配点数, 匹配时间
2026-04-10 11:38:56 +0800926b4494612bcb1c90c4455df2b03dcbe7051f49feat_out: 增加日志统计, 匹配中地图点数，雷达参与匹配点数, 匹配时间editloc/lidar/src/lidar_manage.cppeditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/lidar/src/lidar_process.cppeditloc/lidar/ndt_match/ndt_process.cppeditloc/lidar/ndt_match/ndt_icp_matcher.cpp
- mapping/base_map/base_map.cppmapping/base_map/map_ref.hmapping/base_map/map_ref.cpp3939512b4840ea10843dbd995a5f2d725a43c1441775809804000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加匹配时地图点: 体素下采样滤波
2026-04-10 16:30:04 +08003939512b4840ea10843dbd995a5f2d725a43c144feat_out: 增加匹配时地图点: 体素下采样滤波editmapping/base_map/map_ref.cppeditmapping/base_map/map_ref.heditmapping/base_map/base_map.cpp
- mapping/base_map/map_util.cppmapping/base_map/map_util.hloc/lidar/src/lidar_matcher.cpploc/lidar/src/lidar_process.cpploc/lidar/src/lidar_matcher.h580b0f254114080b3cf368c5396aa3ab142054f81775824457000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加雷达Z高度范围控制（默认上2，下3的范围）
2026-04-10 20:34:17 +0800580b0f254114080b3cf368c5396aa3ab142054f8feat_out: 增加雷达Z高度范围控制（默认上2，下3的范围）editmapping/base_map/map_util.cppeditloc/lidar/src/lidar_matcher.heditmapping/base_map/map_util.heditloc/lidar/src/lidar_process.cppeditloc/lidar/src/lidar_matcher.cpp
- loc/lidar/reflect_match/registration/mrpt_icp.hloc/param/reflect_match/taicang/region.yamlloc/param/reflect_match/taicang/feature.yamlloc/param/reflect_match/taicang/mrpt_icp.yamlloc/lidar/ndt_match/ndt_icp_matcher.cpploc/lidar/ndt_match/ndt_process.cpploc/param/reflect_match/tangshan/region_maintainer.yamlmapping/reflect_map/reflect_map_reader.hloc/lidar/src/lidar_process.cpploc/param/reflect_match/tangshan/mrpt_icp.yamlloc/param/reflect_match/taicang/region_maintainer.yamlmapping/reflect_map/reflect_map_reader.cppmapping/reflect_map/reflect_map.cpploc/launch/lidar_loc_v2_node.rvizloc/param/reflect_match/tangshan/region.yamlloc/param/reflect_match/tangshan/mask.yamlloc/lidar/reflect_match/registration/mrpt_icp.cpploc/param/reflect_match/tangshan/feature.yamlloc/param/reflect_match/taicang/mask.yamlff732ec8dfd5ee1d42d1e799c5c1f265b2f81d161776223071000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: （1）增加mrpt与icp匹配时间分别统计，（2）增加匹配过程中各阶段位姿变化量
2026-04-15 11:17:51 +0800ff732ec8dfd5ee1d42d1e799c5c1f265b2f81d16feat_out: （1）增加mrpt与icp匹配时间分别统计，（2）增加匹配过程中各阶段位姿变化量deleteloc/param/reflect_match/taicang/mrpt_icp.yamleditloc/lidar/reflect_match/registration/mrpt_icp.hdeleteloc/param/reflect_match/tangshan/mask.yamleditmapping/reflect_map/reflect_map_reader.cppeditloc/lidar/src/lidar_process.cppeditmapping/reflect_map/reflect_map.cppdeleteloc/param/reflect_match/tangshan/feature.yamleditmapping/reflect_map/reflect_map_reader.hdeleteloc/param/reflect_match/taicang/feature.yamldeleteloc/param/reflect_match/tangshan/mrpt_icp.yamldeleteloc/param/reflect_match/taicang/mask.yamleditloc/lidar/ndt_match/ndt_icp_matcher.cppeditloc/lidar/ndt_match/ndt_process.cppdeleteloc/param/reflect_match/taicang/region.yamldeleteloc/param/reflect_match/taicang/region_maintainer.yamldeleteloc/param/reflect_match/tangshan/region_maintainer.yamleditloc/launch/lidar_loc_v2_node.rvizeditloc/lidar/reflect_match/registration/mrpt_icp.cppdeleteloc/param/reflect_match/tangshan/region.yaml
- loc/lidar/src/lidar_process.hloc/lidar/src/lidar_process.cpploc/param/lidar_loc_v2_node.vehicle.yamlloc/launch/lidar_loc_v2_node.rvizloc/lidar/src/lidar_matcher.hloc/app/lidar_loc_v2_node.cpploc/lidar/src/lidar_matcher.cpploc/lidar/ndt_match/ndt_icp_matcher.cpploc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/ndt_match/ndt_icp_matcher.he5a6a137bcbc3285a5dda02ea77ca7b69caa7b521776407439000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加保存pcd文件夹数量限制，及是否保存开关
2026-04-17 14:30:39 +0800e5a6a137bcbc3285a5dda02ea77ca7b69caa7b52feat_out: 增加保存pcd文件夹数量限制，及是否保存开关editloc/lidar/ndt_match/ndt_icp_matcher.heditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/lidar/src/lidar_process.heditloc/lidar/src/lidar_process.cppeditloc/app/lidar_loc_v2_node.cppeditloc/lidar/src/lidar_matcher.heditloc/lidar/ndt_match/ndt_icp_matcher.cppeditloc/launch/lidar_loc_v2_node.rvizeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/lidar/src/lidar_matcher.cpp
- common/util/global.hloc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/src/lidar_process.cppcommon/util/global.cpploc/app/lidar_loc_v2_node.cpploc/param/reflect_match/xiamen/mrpt_icp.yamlloc/lidar/ndt_match/ndt_icp_matcher.cpp73e194e311d1c81787e84ea858819502af83cb871776678714000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加控制保存pcd文件的时长，每个文件夹最多3min
2026-04-20 17:51:54 +080073e194e311d1c81787e84ea858819502af83cb87feat_out: 增加控制保存pcd文件的时长，每个文件夹最多3mineditcommon/util/global.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditcommon/util/global.heditloc/lidar/ndt_match/ndt_icp_matcher.cppeditloc/app/lidar_loc_v2_node.cppeditloc/lidar/src/lidar_process.cppeditloc/param/reflect_match/xiamen/mrpt_icp.yaml
- loc/param/lidar_loc_v2_node.vehicle.yamlloc/app/lidar_loc_v2_node_impl.hloc/launch/lidar_loc_v2_node.rvizloc/app/lidar_loc_v2_node_impl.cpp2e8effc1c2f25e3839cf8c36e8fcfd76d1fe2e951776757178000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加车辆静止时，维持3s激光定位处理数据输出定位
2026-04-21 15:39:38 +08002e8effc1c2f25e3839cf8c36e8fcfd76d1fe2e95feat_out: 增加车辆静止时，维持3s激光定位处理数据输出定位editloc/param/lidar_loc_v2_node.vehicle.yamleditloc/launch/lidar_loc_v2_node.rvizeditloc/app/lidar_loc_v2_node_impl.cppeditloc/app/lidar_loc_v2_node_impl.h
- common/util/global.hloc/lidar/reflect_match/registration/mrpt_icp.hloc/param/lidar_loc_v2_node.vehicle.yamlcommon/util/global.cpploc/app/lidar_loc_v2_node_impl.cpploc/param/reflect_match/daxie/region_maintainer.yamlloc/param/reflect_match/daxie/feature.yamlloc/param/reflect_match/xiamen/mrpt_icp.yamlloc/param/reflect_match/daxie/region.yamlloc/param/reflect_match/daxie/mask.yamlloc/lidar/reflect_match/registration/mrpt_icp.cpploc/param/reflect_match/daxie/mrpt_icp.yaml3080b9800722824ef24e72bc428aeb129297999b1777346015000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 临时创建测试分支-rc_dev_ship_gicp
2026-04-28 11:13:35 +08003080b9800722824ef24e72bc428aeb129297999bfeat_out: 临时创建测试分支-rc_dev_ship_gicpeditloc/lidar/reflect_match/registration/mrpt_icp.hdeleteloc/param/reflect_match/daxie/feature.yamldeleteloc/param/reflect_match/daxie/region.yamleditloc/app/lidar_loc_v2_node_impl.cppeditloc/param/lidar_loc_v2_node.vehicle.yamldeleteloc/param/reflect_match/daxie/mask.yamleditcommon/util/global.cppeditloc/param/reflect_match/xiamen/mrpt_icp.yamldeleteloc/param/reflect_match/daxie/mrpt_icp.yamleditcommon/util/global.hdeleteloc/param/reflect_match/daxie/region_maintainer.yamleditloc/lidar/reflect_match/registration/mrpt_icp.cpp
- loc/lidar/reflect_match/registration/mrpt_icp.hloc/lidar/src/lidar_process.cpploc/lidar/reflect_match/reflect_matcher.cpploc/lidar/src/lidar_matcher.hloc/app/lidar_loc_v2_node.cpploc/lidar/src/lidar_matcher.cpploc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/reflect_match/reflect_matcher.hc0792bf269fa9911016ac822debbd3f4d2a590d11777516659000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 使用高程图的高程（已取消按预测位姿）Z对ref_map做上下裁剪
2026-04-30 10:37:39 +0800c0792bf269fa9911016ac822debbd3f4d2a590d1feat_out: 使用高程图的高程（已取消按预测位姿）Z对ref_map做上下裁剪editloc/lidar/src/lidar_matcher.cppeditloc/lidar/src/lidar_matcher.heditloc/app/lidar_loc_v2_node.cppeditloc/lidar/reflect_match/reflect_matcher.heditloc/lidar/reflect_match/registration/mrpt_icp.heditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/lidar/src/lidar_process.cppeditloc/lidar/reflect_match/reflect_matcher.cpp
- loc/lidar/src/lidar_manage.hloc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/reflect_match/registration/mrpt_icp.hmapping/base_map/map_ref.hmapping/base_map/map_ref.cppmapping/dynamic_map/dynamic_map_reader.cppmapping/external_map/external_map_reader.cpploc/lidar/src/lidar_process.cpploc/lidar/reflect_match/feature/ground_extractor.hloc/lidar/reflect_match/reflect_matcher.cppmapping/reflect_map/reflect_map_reader.cpploc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/reflect_match/feature/ground_extractor.cpploc/lidar/reflect_match/reflect_matcher.hloc/lidar/reflect_match/feature/feature_extractor.cpploc/lidar/src/lidar_manage.cppe36ec7e2cba0e3f10f0dd7fe1caeff51a2ca02631778212730000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加使用msf的z+|pitch|绝对值替代仅用msf的pitch，增加每次切高程图时触发一次剪裁局部参考地图; 增加每次切换高程图和局部pcd日志及时间点
2026-05-08 11:58:50 +0800e36ec7e2cba0e3f10f0dd7fe1caeff51a2ca0263feat_out: 增加使用msf的z+|pitch|绝对值替代仅用msf的pitch，增加每次切高程图时触发一次剪裁局部参考地图; 增加每次切换高程图和局部pcd日志及时间点editmapping/dynamic_map/dynamic_map_reader.cppeditloc/lidar/src/lidar_manage.heditloc/lidar/reflect_match/reflect_matcher.cppeditmapping/external_map/external_map_reader.cppeditmapping/base_map/map_ref.heditloc/lidar/reflect_match/registration/mrpt_icp.cppeditloc/lidar/reflect_match/feature/feature_extractor.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/lidar/src/lidar_process.cppeditloc/lidar/reflect_match/feature/ground_extractor.cppeditloc/lidar/reflect_match/reflect_matcher.heditloc/lidar/reflect_match/feature/ground_extractor.heditloc/lidar/reflect_match/registration/mrpt_icp.heditmapping/base_map/map_ref.cppeditmapping/reflect_map/reflect_map_reader.cppeditloc/lidar/src/lidar_manage.cpp
- loc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/src/lidar_manage.cpp58aece5aed963b0bd94c63b18fc8fe48ed718ce21778565338000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加merge_raw_before_feature = false或者true开关，false: 原始点云(各雷达) -> 非主雷达转主系 -> 各雷达分别提特征(多线程) -> 特征拼接 -> 匹配定位，true : 原始点云(各雷达) -> 非主雷达转主系 -> 原始点云拼接 -> 整体提一次特征 -> 匹配定位
2026-05-12 13:55:38 +080058aece5aed963b0bd94c63b18fc8fe48ed718ce2feat_out: 增加merge_raw_before_feature = false或者true开关，false: 原始点云(各雷达) -> 非主雷达转主系 -> 各雷达分别提特征(多线程) -> 特征拼接 -> 匹配定位，true : 原始点云(各雷达) -> 非主雷达转主系 -> 原始点云拼接 -> 整体提一次特征 -> 匹配定位editloc/lidar/src/lidar_manage.cppeditloc/param/lidar_loc_v2_node.vehicle.yaml
- loc/param/lidar_loc_v2_node.vehicle.yamlcommon/util/ramp_zones.hloc/lidar/reflect_match/feature/feature_extractor.hloc/app/lidar_loc_v2_node_impl.cppcommon/CMakeLists.txtcommon/util/ramp_zones.cppcommon/util/global.hloc/lidar/src/lidar_process.cpploc/lidar/reflect_match/feature/ground_extractor.hcommon/util/global.cpploc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/reflect_match/feature/ground_extractor.cpploc/lidar/reflect_match/feature/feature_extractor.cpploc/lidar/src/lidar_manage.cppd4bdf84e40baf85733d5b2862b1418733caa73541778810947000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.com坡道区域: 关闭地面矫正，关闭激光点云匹配roll与pitch置0操作，直接使用msf的roll和pitch和Z
2026-05-15 10:09:07 +0800d4bdf84e40baf85733d5b2862b1418733caa7354坡道区域: 关闭地面矫正，关闭激光点云匹配roll与pitch置0操作，直接使用msf的roll和pitch和Zeditcommon/util/global.cppeditloc/lidar/reflect_match/feature/feature_extractor.cppaddcommon/util/ramp_zones.cppeditloc/lidar/src/lidar_manage.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/lidar/reflect_match/feature/feature_extractor.heditcommon/CMakeLists.txteditloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/reflect_match/feature/ground_extractor.cppaddcommon/util/ramp_zones.heditloc/lidar/reflect_match/feature/ground_extractor.heditloc/lidar/src/lidar_process.cppeditcommon/util/global.heditloc/lidar/reflect_match/registration/mrpt_icp.cpp
- loc/lidar/ndt_match/icp_matcher.cpploc/lidar/reflect_match/registration/mrpt_icp.hloc/param/lidar_loc_v2_node.vehicle.yamlcommon/util/ramp_zones.hloc/lidar/semantic_match/semantic_lidar_matcher.hmapping/base_map/map_ref.cpploc/lidar/ndt_match/ndt_icp_matcher.cppcommon/util/registration_method.hcommon/util/ramp_zones.cppcommon/util/global.hloc/lidar/src/lidar_process.cpploc/lidar/ndt_match/icp_matcher.hcommon/util/global.cpploc/lidar/reflect_match/reflect_matcher.cpploc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/semantic_match/semantic_lidar_matcher.cpploc/lidar/ndt_match/ndt_icp_matcher.hloc/lidar/src/lidar_manage.cpp715bdbb62c9d6d40ca58c0c7357dc16bd5432daa1778833210000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加逻辑: （1）坡道区域是否使用GICP及yaml;（2）坡道区域激光定位输出Z，改用msf的Z替代高程图中Z; （3）坡道区域，每运行3D空间距离2米，剪裁1次参考地图
2026-05-15 16:20:10 +0800715bdbb62c9d6d40ca58c0c7357dc16bd5432daafeat_out: 增加逻辑: （1）坡道区域是否使用GICP及yaml;（2）坡道区域激光定位输出Z，改用msf的Z替代高程图中Z; （3）坡道区域，每运行3D空间距离2米，剪裁1次参考地图editloc/lidar/src/lidar_manage.cppaddcommon/util/registration_method.heditloc/lidar/reflect_match/registration/mrpt_icp.cppeditcommon/util/global.cppeditloc/lidar/reflect_match/registration/mrpt_icp.heditloc/lidar/ndt_match/icp_matcher.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/lidar/ndt_match/icp_matcher.heditloc/lidar/semantic_match/semantic_lidar_matcher.heditloc/lidar/src/lidar_process.cppeditcommon/util/global.heditcommon/util/ramp_zones.heditloc/lidar/semantic_match/semantic_lidar_matcher.cppeditcommon/util/ramp_zones.cppeditmapping/base_map/map_ref.cppeditloc/lidar/ndt_match/ndt_icp_matcher.cppeditloc/lidar/ndt_match/ndt_icp_matcher.heditloc/lidar/reflect_match/reflect_matcher.cpp
- mapping/base_map/map_util.cpploc/param/lidar_loc_v2_node.vehicle.yamlloc/lidar/reflect_match/registration/mrpt_icp.hcommon/util/ramp_zones.hmapping/base_map/map_ref.hmapping/base_map/map_ref.cpploc/lidar/src/lidar_matcher.hmapping/intensity_map/intensity_map_ref.cppmapping/intensity_map/intensity_map_ref.hloc/lidar/src/lidar_matcher.cppcommon/util/ramp_zones.cppcommon/util/global.hmapping/base_map/map_util.hmapping/semantic_map/semantic_map_ref.hloc/lidar/src/lidar_process.cppcommon/util/global.cpploc/lidar/reflect_match/reflect_matcher.cpploc/lidar/reflect_match/registration/mrpt_icp.cpploc/lidar/reflect_match/reflect_matcher.hmapping/semantic_map/semantic_map_ref.cpploc/lidar/src/lidar_manage.cpp4ea8d7f3465305a25e54cba3c03ed72be18d66b11779202815000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 增加(1)剪裁参考地图: 限制甲板层固定高度（一层Z高程（-2.3， 3.5），三层Z高程（ 3.5，+10.0），五层Z高程（10.0， 15.0））; 坡道，用融合msf的Z，控制上下剪裁±5。增加（2）及在坡道上剪裁的地图， 持续与高程图剪切的地图并存5s后删除
2026-05-19 23:00:15 +08004ea8d7f3465305a25e54cba3c03ed72be18d66b1feat_out: 增加(1)剪裁参考地图: 限制甲板层固定高度（一层Z高程（-2.3， 3.5），三层Z高程（ 3.5，+10.0），五层Z高程（10.0， 15.0））; 坡道，用融合msf的Z，控制上下剪裁±5。增加（2）及在坡道上剪裁的地图， 持续与高程图剪切的地图并存5s后删除editcommon/util/ramp_zones.heditcommon/util/global.heditcommon/util/ramp_zones.cppeditloc/lidar/reflect_match/reflect_matcher.heditmapping/semantic_map/semantic_map_ref.heditloc/lidar/src/lidar_matcher.heditloc/param/lidar_loc_v2_node.vehicle.yamleditmapping/base_map/map_ref.cppeditmapping/intensity_map/intensity_map_ref.heditmapping/base_map/map_util.cppeditloc/lidar/reflect_match/registration/mrpt_icp.heditloc/lidar/src/lidar_matcher.cppeditmapping/base_map/map_ref.heditmapping/semantic_map/semantic_map_ref.cppeditcommon/util/global.cppeditloc/lidar/reflect_match/reflect_matcher.cppeditloc/lidar/src/lidar_manage.cppeditmapping/intensity_map/intensity_map_ref.cppeditloc/lidar/src/lidar_process.cppeditloc/lidar/reflect_match/registration/mrpt_icp.cppeditmapping/base_map/map_util.h
- common/util/global.hloc/lidar/src/lidar_manage.hloc/param/lidar_loc_v2_node.vehicle.yamlcommon/util/global.cpploc/app/lidar_loc_v2_node_impl.cpploc/lidar/src/lidar_manage.cppe27789d63a7b776cccb2611c1c29cc9ac3b683381779204282000http://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqiangdongdaqiangzi@163.comfeat_out: 3个激光雷达，增加数据的接收逻辑，保证每个雷达队列内数据个数，在停车时侯一致
2026-05-19 23:24:42 +0800e27789d63a7b776cccb2611c1c29cc9ac3b68338feat_out: 3个激光雷达，增加数据的接收逻辑，保证每个雷达队列内数据个数，在停车时侯一致editloc/lidar/src/lidar_manage.heditcommon/util/global.heditcommon/util/global.cppeditloc/param/lidar_loc_v2_node.vehicle.yamleditloc/app/lidar_loc_v2_node_impl.cppeditloc/lidar/src/lidar_manage.cpp
githttp://159.27.114.184:8080/jenkins/user/tangxiaotangxiaohttp://159.27.114.184:8080/jenkins/user/zhangzhengqiangzhangzhengqianghttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjing399http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/orin-slave32/399/397http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/orin-slave32/397/